fixposition/fixposition_driver

Wheelspeed input for tracked vehicles (speed-msg)

Closed this issue · 1 comments

klausener commented

Hello,

what is the best way to send left and right velocity of a tracked vehicle to the sensor? I have seen that there is an option to send the speed of the vehicle center or the speed of four wheels in the speed-message.

Thanks

souryavarenya commented

Hi @klausener, thanks for asking.

via ROS driver

As you rightly noticed, you could publish the speed message that uses our custom definition (Speed.msg) and our driver would consume it.

In your specific case, you would have to still populate 4 entries, but two of them can be set to zero (Let's discard RR and RL for example). The message would then look like msg.speeds = [<FR>, <FL>, 0.0, 0.0]. This should also further be reflected in the sensor config to only use FR and FL and this can be achieved via our web interface.

...

via TCP

Alternatively, if you prefer to publish a RAWDMI message directly on a TCP port, refer to the documentation here.

I will be closing this issue on the driver. For further support related to the sensor, reach out to support@fixposition.com